牢 1・ 2TheUniveτsi 重 y ofElectr (トColnmunications l − 5 − 1, Cho釦 gaoka , Choufb 一 曲 i, Tbkyo l 82−8585 , Japan ' 3 National ihSdtUte ofinfarmation and Communications Tbdmology 3 − 4, Hikarin " oka , Ydkosuka , Japan Recently , many studies have been conducted on robot positioning using self −localization method without GPS . ( 短 e of the e飯 cient melhods is called SLAM , SimUttaneous Loca -々α ご ' o η 遵 η 4 吻 『 加 g . [ [ his method can estimate robot posltiom 舳 high a uracy by using bo卵 ntem 訓 s sors such as gyro sensor , ro町 enoDder , d 甑 al sensors such as camera sensor to get landmark information . i1 the SLAM method , robot have to 伽 d and detect some landmarks
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